Index

A

AbstractControlledEnv (class in polysim.envs.abstract_env) AbstractRobotClient (class in polymetis.robot_client.abstract_robot_client) apply() (torchcontrol.transform.rotation.RotationObj method) (torchcontrol.transform.transformation.TransformationObj method) apply_joint_torques() (polysim.envs.abstract_env.AbstractControlledEnv method) (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) (polysim.test_utils.FakeEnv method)

as_matrix() (torchcontrol.transform.rotation.RotationObj method) (torchcontrol.transform.transformation.TransformationObj method) as_quat() (torchcontrol.transform.rotation.RotationObj method) as_rotvec() (torchcontrol.transform.rotation.RotationObj method) as_twist() (torchcontrol.transform.transformation.TransformationObj method) axis() (torchcontrol.transform.rotation.RotationObj method)

B

BaseRobotInterface (class in polymetis.robot_interface)

BulletManipulatorEnv (class in polysim.envs.bullet_manipulator)

C

CartesianSpacePD (class in torchcontrol.modules.feedback) CartesianSpacePDFast (class in torchcontrol.modules.feedback) clean_mirror_after_forward() (polymetis.robot_interface.BaseRobotInterface method) compute_forward_kinematics() (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) compute_inverse_dynamics() (polysim.envs.bullet_manipulator.BulletManipulatorEnv method)

compute_inverse_kinematics() (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) compute_jacobian() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) controlled_joints (polymetis.robot_client.metadata.RobotModelConfig attribute) ControlUpdate() (polysim.test_utils.FakeConnection method) Coriolis (class in torchcontrol.modules.feedforward)

D

default_Kq (polymetis.robot_client.metadata.RobotClientMetadataConfig attribute) default_Kqd (polymetis.robot_client.metadata.RobotClientMetadataConfig attribute)

default_Kx (polymetis.robot_client.metadata.RobotClientMetadataConfig attribute) default_Kxd (polymetis.robot_client.metadata.RobotClientMetadataConfig attribute) diagonalize_gain() (in module torchcontrol.utils.tensor_utils)

E

ee_link_idx (polymetis.robot_client.metadata.RobotModelConfig attribute) ee_link_name (polymetis.robot_client.metadata.RobotModelConfig attribute)

EmptyRobotClientMetadata (class in polymetis.robot_client.metadata) ExecutableRobotClient (class in polymetis.robot_client.executable_robot_client) execute_rpc_call() (polysim.grpc_sim_client.GrpcSimulationClient method)

F

fake_metadata_cfg (in module polysim.test_utils) FakeConnection (class in polysim.test_utils) FakeEnv (class in polysim.test_utils) FakeMetadata (class in polysim.test_utils) forward() (polymetis.robot_interface.ParamDictContainer method) (torchcontrol.modules.feedback.CartesianSpacePD method) (torchcontrol.modules.feedback.CartesianSpacePDFast method) (torchcontrol.modules.feedback.HybridJointSpacePD method) (torchcontrol.modules.feedback.JointSpacePD method) (torchcontrol.modules.feedback.LinearFeedback method) (torchcontrol.modules.feedforward.Coriolis method) (torchcontrol.modules.feedforward.InverseDynamics method)

forward_kinematics() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) from_matrix() (in module torchcontrol.transform.rotation) (in module torchcontrol.transform.transformation) from_quat() (in module torchcontrol.transform.rotation) from_rot_xyz() (in module torchcontrol.transform.transformation) from_rotvec() (in module torchcontrol.transform.rotation)

G

get_current_joint_pos() (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) get_current_joint_pos_vel() (polysim.envs.abstract_env.AbstractControlledEnv method) (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) (polysim.test_utils.FakeEnv method) get_current_joint_torques() (polysim.envs.abstract_env.AbstractControlledEnv method) (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) (polysim.test_utils.FakeEnv method) get_current_joint_vel() (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) get_ee_pose() (polymetis.robot_interface.RobotInterface method) get_full_path_to_urdf() (in module polymetis.utils.data_dir) get_jacobian() (polymetis.robot_interface.RobotInterface method) get_joint_angle_limits() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) get_joint_angles() (polymetis.robot_interface.RobotInterface method)

get_joint_positions() (polymetis.robot_interface.RobotInterface method) get_joint_velocities() (polymetis.robot_interface.RobotInterface method) get_joint_velocity_limits() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) get_link_name_from_idx() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) get_num_dofs() (polysim.envs.abstract_env.AbstractControlledEnv method) (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) (polysim.test_utils.FakeEnv method) get_previous_interval() (polymetis.robot_interface.BaseRobotInterface method) get_previous_log() (polymetis.robot_interface.BaseRobotInterface method) get_proto() (polymetis.robot_client.metadata.RobotClientMetadata method) (polysim.test_utils.FakeMetadata method) get_robot_state() (polymetis.robot_interface.BaseRobotInterface method) go_home() (polymetis.robot_interface.RobotInterface method) GrpcSimulationClient (class in polysim.grpc_sim_client)

H

HybridJointSpacePD (class in torchcontrol.modules.feedback)

hz (polymetis.robot_client.metadata.RobotClientMetadataConfig attribute)

I

identity() (in module torchcontrol.transform.rotation) (in module torchcontrol.transform.transformation) init_robot_client() (polysim.grpc_sim_client.GrpcSimulationClient method) InitRobotClient() (polysim.test_utils.FakeConnection method) inv() (torchcontrol.transform.rotation.RotationObj method) (torchcontrol.transform.transformation.TransformationObj method)

inverse_dynamics() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) inverse_kinematics() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) InverseDynamics (class in torchcontrol.modules.feedforward) is_running_policy() (polymetis.robot_interface.BaseRobotInterface method)

J

joint_damping (polymetis.robot_client.metadata.RobotModelConfig attribute) joint_limits_high (polymetis.robot_client.metadata.RobotModelConfig attribute)

joint_limits_low (polymetis.robot_client.metadata.RobotModelConfig attribute) JointSpacePD (class in torchcontrol.modules.feedback)

K

kill_run() (polysim.grpc_sim_client.GrpcSimulationClient method)

L

LinearFeedback (class in torchcontrol.modules.feedback)

load_robot_description_from_sdf() (polysim.envs.bullet_manipulator.BulletManipulatorEnv static method) load_robot_description_from_urdf() (polysim.envs.bullet_manipulator.BulletManipulatorEnv static method)

M

magnitude() (torchcontrol.transform.rotation.RotationObj method) module polymetis polymetis.robot_client polymetis.robot_client.abstract_robot_client polymetis.robot_client.executable_robot_client polymetis.robot_client.metadata polymetis.robot_interface polymetis.utils polymetis.utils.data_dir polysim polysim.envs polysim.envs.abstract_env polysim.envs.bullet_manipulator polysim.grpc_sim_client polysim.test_utils torchcontrol torchcontrol.models torchcontrol.models.torchscript_pinocchio torchcontrol.modules torchcontrol.modules.feedback torchcontrol.modules.feedforward torchcontrol.policies torchcontrol.transform torchcontrol.transform.rotation torchcontrol.transform.transformation torchcontrol.utils torchcontrol.utils.tensor_utils

move_ee_xyz() (polymetis.robot_interface.RobotInterface method) move_joint_positions() (polymetis.robot_interface.RobotInterface method) move_to_ee_pose() (polymetis.robot_interface.RobotInterface method) move_to_joint_positions() (polymetis.robot_interface.RobotInterface method)

N

num_dofs (polymetis.robot_client.metadata.RobotModelConfig attribute)

P

param_dict (polymetis.robot_interface.ParamDictContainer attribute) ParamDictContainer (class in polymetis.robot_interface) polymetis module polymetis.robot_client module polymetis.robot_client.abstract_robot_client module polymetis.robot_client.executable_robot_client module polymetis.robot_client.metadata module polymetis.robot_interface module polymetis.utils module

polymetis.utils.data_dir module polysim module polysim.envs module polysim.envs.abstract_env module polysim.envs.bullet_manipulator module polysim.grpc_sim_client module polysim.test_utils module pose_ee() (polymetis.robot_interface.RobotInterface method)

R

reset() (polysim.envs.abstract_env.AbstractControlledEnv method) (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) (polysim.test_utils.FakeEnv method) rest_pose (polymetis.robot_client.metadata.RobotModelConfig attribute) robot_description_path (polymetis.robot_client.metadata.RobotModelConfig attribute) robot_model (polymetis.robot_client.metadata.RobotClientMetadataConfig attribute) RobotClientMetadata (class in polymetis.robot_client.metadata) RobotClientMetadataConfig (class in polymetis.robot_client.metadata)

RobotInterface (class in polymetis.robot_interface) RobotModelConfig (class in polymetis.robot_client.metadata) RobotModelPinocchio (class in torchcontrol.models.torchscript_pinocchio) rotation() (torchcontrol.transform.transformation.TransformationObj method) RotationObj (class in torchcontrol.transform.rotation) run() (polymetis.robot_client.abstract_robot_client.AbstractRobotClient method) (polymetis.robot_client.executable_robot_client.ExecutableRobotClient method) (polysim.grpc_sim_client.GrpcSimulationClient method) run_no_wait() (polysim.grpc_sim_client.GrpcSimulationClient method)

S

send_torch_policy() (polymetis.robot_interface.BaseRobotInterface method) serialize() (polymetis.robot_client.metadata.RobotClientMetadata method) set_ee_link() (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio method) set_ee_pose() (polymetis.robot_interface.RobotInterface method) set_home_pose() (polymetis.robot_interface.RobotInterface method) set_joint_positions() (polymetis.robot_interface.RobotInterface method) set_robot_model() (polymetis.robot_interface.RobotInterface method) set_robot_state() (polysim.envs.abstract_env.AbstractControlledEnv method) (polysim.envs.bullet_manipulator.BulletManipulatorEnv method) (polysim.grpc_sim_client.GrpcSimulationClient method) (polysim.test_utils.FakeEnv method)

setup_mirror_for_forward() (polymetis.robot_interface.BaseRobotInterface method) solve_inverse_kinematics() (polymetis.robot_interface.RobotInterface method) stack_trajectory() (in module torchcontrol.utils.tensor_utils) start_cartesian_impedance() (polymetis.robot_interface.RobotInterface method) start_joint_impedance() (polymetis.robot_interface.RobotInterface method) start_joint_velocity_control() (polymetis.robot_interface.RobotInterface method) sync() (polysim.grpc_sim_client.GrpcSimulationClient method) sync_with_mirror() (polymetis.robot_interface.BaseRobotInterface method)

T

terminate_current_policy() (polymetis.robot_interface.BaseRobotInterface method) to_tensor() (in module torchcontrol.utils.tensor_utils) torchcontrol module torchcontrol.models module torchcontrol.models.torchscript_pinocchio module torchcontrol.modules module torchcontrol.modules.feedback module torchcontrol.modules.feedforward module torchcontrol.policies module

torchcontrol.transform module torchcontrol.transform.rotation module torchcontrol.transform.transformation module torchcontrol.utils module torchcontrol.utils.tensor_utils module torque_limits (polymetis.robot_client.metadata.RobotModelConfig attribute) training (torchcontrol.models.torchscript_pinocchio.RobotModelPinocchio attribute) TransformationObj (class in torchcontrol.transform.transformation) translation() (torchcontrol.transform.transformation.TransformationObj method)

U

unsync() (polysim.grpc_sim_client.GrpcSimulationClient method) unsync_with_mirror() (polymetis.robot_interface.BaseRobotInterface method) update_current_policy() (polymetis.robot_interface.BaseRobotInterface method)

update_desired_ee_pose() (polymetis.robot_interface.RobotInterface method) update_desired_joint_positions() (polymetis.robot_interface.RobotInterface method) update_desired_joint_velocities() (polymetis.robot_interface.RobotInterface method) use_grav_comp (torchcontrol.modules.feedforward.InverseDynamics attribute)

W

which() (in module polymetis.utils.data_dir)